Constituting a Gentle Motor Driving System by Identifying the Reactive Force of Load.

In the robust motor control system which consists of a conventional servo amplifier or a disturbance observer, the motion of the motor has a robust anti-interference controlling function against the disturbances. When this kind of robust anti-interference servo system is used to drive the load, the reactive force of the load is treated as a disturbance. The motor resists the disturbance and will revolve continuously, thus the robust motor system will easily generate a vibration of load. In this research, we have studied a driving method that reduces the reactive force of load by identifying the reactive force of load. By reducing the driving reactive force generated when the motor drives, the system degrades the rapid acceleration and deceleration and thus the vibration of the load is decreased. As a result of this driving method, a gentle drive of the mechanical system can be achieved.